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Development and investigation of compressed air only and hybrid powering options
(2016-04-01)
Currently, significant resources are deployed to investigate electric and pneumatic vehicles in response to environmental, energy and consumer pressures. The goal of this thesis is to show conceptual development, analyze, ...
Multimodal series elastic actuator for human-machine interaction with applications in robot-aided rehabilitation
(2019-11-01)
Series elastic actuators (SEAs) are becoming an elemental building block in collaborative robotic systems. They introduce an elastic element between the mechanical drive and the end-effector, making otherwise rigid structures ...
Design and development of an autonomous scaled electric combat vehicle
(2019-04-01)
Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing advanced technologies in this joint area. As a result, a ...
Experimental investigation of photocatalytic hydrogen production with boron-doped TiO2 and multi-walled carbon nanotubes-TiO2
(2019-04-01)
This thesis investigates photocatalytic hydrogen production by performing an experimental study using a small-scale photochemical cell which splits water to hydrogen and oxygen by UV light irradiated boron-doped TiO2 and ...
Controlling the Vienna rectifier using a simplified space vector pulse width modulation technique
(2019-11-01)
In this thesis, a simplified Space-Vector Pulse-Width-Modulation (SVPWM) technique for the Vienna rectifier is introduced to reduce the computational burden, the switching losses and the Total-Harmonic-Distortion (THD). ...
Damping acoustic pressure pulsations in pipelines using Helmholtz resonators
(2019-05-01)
In industrial piping systems, centrifugal and reciprocating turbomachinery generate acoustic pressure pulsations, which propagate into the pipeline and interact with piping components, potentially causing vibrations, ...
Optimal structure and efficient algorithm for max-min fair multi-group multicast beamforming
(2019-09-01)
In this thesis, we consider the max-min fair (MMF) multi-group multicast beamforming design to maximize the minimum signal-to-interference-plus-noise ratio (SINR) subject to transmit power limit. We obtain the optimal ...
Design of robust active trailer steering controllers for multi-trailer articulated heavy vehicles using software/hardware-in-the-loop real-time simulations
(2019-08-01)
Due to their remarkable economic and environmental benefits, Multi-Trailer Articulated Heavy Vehicles (MTAHVs) have been frequently adopted by the trucking industry. Despite the above advantages, MTAHVs exhibit two particular ...
Design and development of advanced machine learning algorithms for lithium-ion battery state-of-charge estimation
(2019-11-01)
Batteries have been becoming more and more popular because of their long life and lightweight. Accurate estimation of the SOC help in making plans in an application to conserve and further enhance battery life. State of ...
Motion planning for multi-link robots with artificial potential fields and modified simulated annealing
(2010-12-01)
In this thesis we present a hybrid control methodology using Artificial Potential Fields (APF) integrated with a modified Simulated Annealing (SA) optimization algorithm for motion planning of a multi-link robots team. The ...